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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
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<div class="title">pcl::EuclideanClusterComparator&lt; PointT, PointNT, PointLT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html" title="EuclideanClusterComparator is a comparator used for finding clusters supported by planar surfaces....">EuclideanClusterComparator</a> is a comparator used for finding clusters supported by planar surfaces. This needs to be run as a second pass after extracting planar surfaces, using MultiPlaneSegmentation for example.  
 <a href="classpcl_1_1_euclidean_cluster_comparator.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="euclidean__cluster__comparator_8h_source.html">euclidean_cluster_comparator.h</a>&gt;</code></p>
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类 pcl::EuclideanClusterComparator&lt; PointT, PointNT, PointLT &gt; 继承关系图:</div>
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Public 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1_comparator.html">Comparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:a933664b50294eca87155e864dd359a44"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7afee432a544421e1effd8b676bbfc5b"><td class="memItemLeft" align="right" valign="top"><a id="a7afee432a544421e1effd8b676bbfc5b"></a>
typedef <a class="el" href="classpcl_1_1_comparator.html">Comparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointNT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudN</b></td></tr>
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typedef PointCloudN::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNPtr</b></td></tr>
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typedef PointCloudN::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointLT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudL</b></td></tr>
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typedef PointCloudL::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudLPtr</b></td></tr>
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typedef PointCloudL::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudLConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html">EuclideanClusterComparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html">EuclideanClusterComparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_comparator.html">Comparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_comparator.html">Comparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:af6e681c703024e1ce037179048d5c537"><td class="memItemLeft" align="right" valign="top"><a id="af6e681c703024e1ce037179048d5c537"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#af6e681c703024e1ce037179048d5c537">EuclideanClusterComparator</a> ()</td></tr>
<tr class="memdesc:af6e681c703024e1ce037179048d5c537"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor for <a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html" title="EuclideanClusterComparator is a comparator used for finding clusters supported by planar surfaces....">EuclideanClusterComparator</a>. <br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#a4edca0baec1c68c06290d2478d2f19a1">~EuclideanClusterComparator</a> ()</td></tr>
<tr class="memdesc:a4edca0baec1c68c06290d2478d2f19a1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor for <a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html" title="EuclideanClusterComparator is a comparator used for finding clusters supported by planar surfaces....">EuclideanClusterComparator</a>. <br /></td></tr>
<tr class="separator:a4edca0baec1c68c06290d2478d2f19a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c5c417d182632200673c321b70eedb2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#a2c5c417d182632200673c321b70eedb2">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a2c5c417d182632200673c321b70eedb2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the input cloud for the comparator.  <a href="classpcl_1_1_euclidean_cluster_comparator.html#a2c5c417d182632200673c321b70eedb2">更多...</a><br /></td></tr>
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<tr class="memitem:aadf4d07df67d9b84f51e39e6e25d0e77"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#aadf4d07df67d9b84f51e39e6e25d0e77">setInputNormals</a> (const PointCloudNConstPtr &amp;normals)</td></tr>
<tr class="memdesc:aadf4d07df67d9b84f51e39e6e25d0e77"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input normals.  <a href="classpcl_1_1_euclidean_cluster_comparator.html#aadf4d07df67d9b84f51e39e6e25d0e77">更多...</a><br /></td></tr>
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PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#a1d0165152c3966e216562883c1fdadba">getInputNormals</a> () const</td></tr>
<tr class="memdesc:a1d0165152c3966e216562883c1fdadba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the input normals. <br /></td></tr>
<tr class="separator:a1d0165152c3966e216562883c1fdadba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9fbae717c4d3e51a61ee7b2fd3c265b5"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#a9fbae717c4d3e51a61ee7b2fd3c265b5">setAngularThreshold</a> (float angular_threshold)</td></tr>
<tr class="memdesc:a9fbae717c4d3e51a61ee7b2fd3c265b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.  <a href="classpcl_1_1_euclidean_cluster_comparator.html#a9fbae717c4d3e51a61ee7b2fd3c265b5">更多...</a><br /></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#a90c75d31614fdc364d73d88885567561">getAngularThreshold</a> () const</td></tr>
<tr class="memdesc:a90c75d31614fdc364d73d88885567561"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. <br /></td></tr>
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<tr class="memitem:a5ecb533240acc72d1a37866326e47bc4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#a5ecb533240acc72d1a37866326e47bc4">setDistanceThreshold</a> (float distance_threshold, bool depth_dependent)</td></tr>
<tr class="memdesc:a5ecb533240acc72d1a37866326e47bc4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane.  <a href="classpcl_1_1_euclidean_cluster_comparator.html#a5ecb533240acc72d1a37866326e47bc4">更多...</a><br /></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#a1e5b3704598fe7214b323ac12af7bda4">getDistanceThreshold</a> () const</td></tr>
<tr class="memdesc:a1e5b3704598fe7214b323ac12af7bda4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. <br /></td></tr>
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<tr class="memitem:a75a43d149c808dc37866d8325bb91117"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#a75a43d149c808dc37866d8325bb91117">setLabels</a> (PointCloudLPtr &amp;labels)</td></tr>
<tr class="memdesc:a75a43d149c808dc37866d8325bb91117"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set label cloud  <a href="classpcl_1_1_euclidean_cluster_comparator.html#a75a43d149c808dc37866d8325bb91117">更多...</a><br /></td></tr>
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<tr class="memitem:a7bd9a6ffeb4454d1394b152e103c5023"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#a7bd9a6ffeb4454d1394b152e103c5023">setExcludeLabels</a> (std::vector&lt; bool &gt; &amp;exclude_labels)</td></tr>
<tr class="memdesc:a7bd9a6ffeb4454d1394b152e103c5023"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set labels in the label cloud to exclude.  <a href="classpcl_1_1_euclidean_cluster_comparator.html#a7bd9a6ffeb4454d1394b152e103c5023">更多...</a><br /></td></tr>
<tr class="separator:a7bd9a6ffeb4454d1394b152e103c5023"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac62409f529595bf3bf54fa0c68b3336d"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html#ac62409f529595bf3bf54fa0c68b3336d">compare</a> (int idx1, int idx2) const</td></tr>
<tr class="memdesc:ac62409f529595bf3bf54fa0c68b3336d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare points at two indices by their plane equations. True if the angle between the normals is less than the angular threshold, and the difference between the d component of the normals is less than distance threshold, else false  <a href="classpcl_1_1_euclidean_cluster_comparator.html#ac62409f529595bf3bf54fa0c68b3336d">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_comparator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_comparator')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_comparator.html">pcl::Comparator&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ad86c8399ef71dcb26d21132b488bd1de inherit pub_methods_classpcl_1_1_comparator"><td class="memItemLeft" align="right" valign="top"><a id="ad86c8399ef71dcb26d21132b488bd1de"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_comparator.html#ad86c8399ef71dcb26d21132b488bd1de">Comparator</a> ()</td></tr>
<tr class="memdesc:ad86c8399ef71dcb26d21132b488bd1de inherit pub_methods_classpcl_1_1_comparator"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor for comparator. <br /></td></tr>
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<tr class="memitem:a4970f67a4a1952962841aee28901101d inherit pub_methods_classpcl_1_1_comparator"><td class="memItemLeft" align="right" valign="top"><a id="a4970f67a4a1952962841aee28901101d"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_comparator.html#a4970f67a4a1952962841aee28901101d">~Comparator</a> ()</td></tr>
<tr class="memdesc:a4970f67a4a1952962841aee28901101d inherit pub_methods_classpcl_1_1_comparator"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor for comparator. <br /></td></tr>
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<tr class="memitem:a5ebe038626b6ee42096bfbc209cc10c5 inherit pub_methods_classpcl_1_1_comparator"><td class="memItemLeft" align="right" valign="top"><a id="a5ebe038626b6ee42096bfbc209cc10c5"></a>
virtual PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_comparator.html#a5ebe038626b6ee42096bfbc209cc10c5">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a5ebe038626b6ee42096bfbc209cc10c5 inherit pub_methods_classpcl_1_1_comparator"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the input cloud this comparator operates on. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a7fb2c962b17c76a03ead60da7840ed77"><td class="memItemLeft" align="right" valign="top"><a id="a7fb2c962b17c76a03ead60da7840ed77"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>normals_</b></td></tr>
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PointCloudLPtr&#160;</td><td class="memItemRight" valign="bottom"><b>labels_</b></td></tr>
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boost::shared_ptr&lt; std::vector&lt; bool &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>exclude_labels_</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>angular_threshold_</b></td></tr>
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<tr class="memitem:ad83411c0478a6b7a2ce1170156fe4856"><td class="memItemLeft" align="right" valign="top"><a id="ad83411c0478a6b7a2ce1170156fe4856"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>distance_threshold_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>depth_dependent_</b></td></tr>
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<tr class="memitem:a44dde7435c98e56add3e12a6353a9fb6"><td class="memItemLeft" align="right" valign="top"><a id="a44dde7435c98e56add3e12a6353a9fb6"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><b>z_axis_</b></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_comparator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_comparator')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_comparator.html">pcl::Comparator&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a28026be2db8d544a7a3183d68d923f00 inherit pro_attribs_classpcl_1_1_comparator"><td class="memItemLeft" align="right" valign="top"><a id="a28026be2db8d544a7a3183d68d923f00"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>input_</b></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT, typename PointNT, typename PointLT&gt;<br />
class pcl::EuclideanClusterComparator&lt; PointT, PointNT, PointLT &gt;</h3>

<p><a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html" title="EuclideanClusterComparator is a comparator used for finding clusters supported by planar surfaces....">EuclideanClusterComparator</a> is a comparator used for finding clusters supported by planar surfaces. This needs to be run as a second pass after extracting planar surfaces, using MultiPlaneSegmentation for example. </p>
<dl class="section author"><dt>作者</dt><dd>Alex Trevor </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="ac62409f529595bf3bf54fa0c68b3336d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac62409f529595bf3bf54fa0c68b3336d">&#9670;&nbsp;</a></span>compare()</h2>

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<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
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          <td class="memname">virtual bool <a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html">pcl::EuclideanClusterComparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::compare </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>idx1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>idx2</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Compare points at two indices by their plane equations. True if the angle between the normals is less than the angular threshold, and the difference between the d component of the normals is less than distance threshold, else false </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">idx1</td><td>The first index for the comparison </td></tr>
    <tr><td class="paramname">idx2</td><td>The second index for the comparison </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_comparator.html#a3acc3cf9fb5af67f780799902d371246">pcl::Comparator&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordtype">int</span> label1 = labels_-&gt;points[idx1].label;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keywordtype">int</span> label2 = labels_-&gt;points[idx2].label;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordflow">if</span> (label1 == -1 || label2 == -1)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordflow">if</span> ( (*exclude_labels_)[label1] || (*exclude_labels_)[label2])</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keywordtype">float</span> dist_threshold = distance_threshold_;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keywordflow">if</span> (depth_dependent_)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          Eigen::Vector3f vec = input_-&gt;points[idx1].getVector3fMap ();</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          <span class="keywordtype">float</span> z = vec.dot (z_axis_);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          dist_threshold *= z * z;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keywordtype">float</span> dx = input_-&gt;points[idx1].x - input_-&gt;points[idx2].x;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordtype">float</span> dy = input_-&gt;points[idx1].y - input_-&gt;points[idx2].y;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keywordtype">float</span> dz = input_-&gt;points[idx1].z - input_-&gt;points[idx2].z;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordtype">float</span> dist = std::sqrt (dx*dx + dy*dy + dz*dz);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keywordflow">return</span> (dist &lt; dist_threshold);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a9fbae717c4d3e51a61ee7b2fd3c265b5">&#9670;&nbsp;</a></span>setAngularThreshold()</h2>

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template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
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          <td class="memname">virtual void <a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html">pcl::EuclideanClusterComparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setAngularThreshold </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>angular_threshold</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
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</div><div class="memdoc">

<p>Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">angular_threshold</td><td>the tolerance in radians </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        angular_threshold_ = cosf (angular_threshold);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      }</div>
</div><!-- fragment -->
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<a id="a5ecb533240acc72d1a37866326e47bc4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5ecb533240acc72d1a37866326e47bc4">&#9670;&nbsp;</a></span>setDistanceThreshold()</h2>

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<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html">pcl::EuclideanClusterComparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setDistanceThreshold </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>distance_threshold</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>depth_dependent</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<p>Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">distance_threshold</td><td>the tolerance in meters </td></tr>
    <tr><td class="paramdir"></td><td class="paramname">depth_dependent</td><td></td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        distance_threshold_ = distance_threshold;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        depth_dependent_ = depth_dependent;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      }</div>
</div><!-- fragment -->
</div>
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<a id="a7bd9a6ffeb4454d1394b152e103c5023"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7bd9a6ffeb4454d1394b152e103c5023">&#9670;&nbsp;</a></span>setExcludeLabels()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html">pcl::EuclideanClusterComparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setExcludeLabels </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; bool &gt; &amp;&#160;</td>
          <td class="paramname"><em>exclude_labels</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Set labels in the label cloud to exclude. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">exclude_labels</td><td>a vector of bools corresponding to whether or not a given label should be considered </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        exclude_labels_ = boost::make_shared&lt;std::vector&lt;bool&gt; &gt;(exclude_labels);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2c5c417d182632200673c321b70eedb2">&#9670;&nbsp;</a></span>setInputCloud()</h2>

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<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
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          <td class="memname">virtual void <a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html">pcl::EuclideanClusterComparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
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<p>Set the input cloud for the comparator. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the point cloud this comparator will operate on </td></tr>
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<p>重载 <a class="el" href="classpcl_1_1_comparator.html#a069043aad7fdf6a61749ea83e82ab306">pcl::Comparator&lt; PointT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      {</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        input_ = cloud;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        Eigen::Matrix3f rot = input_-&gt;sensor_orientation_.toRotationMatrix ();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        z_axis_ = rot.col (2);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aadf4d07df67d9b84f51e39e6e25d0e77">&#9670;&nbsp;</a></span>setInputNormals()</h2>

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template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html">pcl::EuclideanClusterComparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setInputNormals </td>
          <td>(</td>
          <td class="paramtype">const PointCloudNConstPtr &amp;&#160;</td>
          <td class="paramname"><em>normals</em></td><td>)</td>
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<p>Provide a pointer to the input normals. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">normals</td><td>the input normal cloud </td></tr>
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<div class="fragment"><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        normals_ = normals;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a75a43d149c808dc37866d8325bb91117">&#9670;&nbsp;</a></span>setLabels()</h2>

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template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_euclidean_cluster_comparator.html">pcl::EuclideanClusterComparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setLabels </td>
          <td>(</td>
          <td class="paramtype">PointCloudLPtr &amp;&#160;</td>
          <td class="paramname"><em>labels</em></td><td>)</td>
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<p>Set label cloud </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">labels</td><td>The label cloud </td></tr>
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<div class="fragment"><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        labels_ = labels;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>segmentation/include/pcl/segmentation/<a class="el" href="euclidean__cluster__comparator_8h_source.html">euclidean_cluster_comparator.h</a></li>
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